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Estimated-azimuth-angle assessment device, mobile terminal device, computer-readable storage medium, control method for estimated-azimuth-angle assessment device, and positioning device

a technology of estimated azimuth and assessment device, applied in the direction of speed/acceleration/shock measurement device, distance measurement, instrument, etc., can solve the problems of small errors in estimating an attitude (particularly yaw azimuth), and the proportion of positioning error, so as to evaluate the validity of an error componen

Active Publication Date: 2020-01-07
NAT INST OF ADVANCED IND SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Benefits of technology

[0022]With an estimated azimuth evaluating device and an estimated azimuth evaluating device controlling method of the present invention, it is possible to evaluate validity of an error component (bias component) of an estimated angular velocity even without measuring the error component in advance.

Problems solved by technology

However, according to PDR, slight errors in estimating an attitude (particularly yaw azimuth) generally accumulate.
This poses a problem that an error in positioning may increase in proportion to a distance for which a pedestrian has walked.
Error components such as zero-point offsets are integrated over time, and are accumulated as errors in estimating an attitude.

Method used

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  • Estimated-azimuth-angle assessment device, mobile terminal device, computer-readable storage medium, control method for estimated-azimuth-angle assessment device, and positioning device
  • Estimated-azimuth-angle assessment device, mobile terminal device, computer-readable storage medium, control method for estimated-azimuth-angle assessment device, and positioning device
  • Estimated-azimuth-angle assessment device, mobile terminal device, computer-readable storage medium, control method for estimated-azimuth-angle assessment device, and positioning device

Examples

Experimental program
Comparison scheme
Effect test

embodiment 1

[0032]The following description will discuss an embodiment of the present invention with reference to FIGS. 1 through 4 and FIG. 9.

[0033](Overview)

[0034]A positioning system SYS1 in accordance with an embodiment of the present invention will be first described with reference to FIG. 1. FIG. 1 is a functional diagram schematically illustrating a configuration of the positioning system SYS1. As illustrated in FIG. 1, the positioning system SYS1 includes two constituent elements. Specifically, the positioning system SYS1 includes a mobile terminal device 2 and an angular velocity offset judging device 1.

[0035]The mobile terminal device 2 and the angular velocity offset judging device 1 are connected so as to be able to establish data communication with each other via (i) an external connection interface A of the mobile terminal device 2 and (ii) an external connection interface B of the angular velocity offset judging device 1.

[0036]A connection between the external connection interfac...

embodiment 2

[0126]The following description will discuss Embodiment 2 of the present invention with reference to FIG. 5. In Embodiment 2, for convenience, members identical in function to those described above are given the same reference numerals, and their descriptions will be omitted.

[0127]A positioning system SYS1A illustrated in FIG. 5 includes a mobile terminal device 2A and an angular velocity offset judging device 1A.

[0128]The mobile terminal device 2A and the angular velocity offset judging device 1A are connected to each other via a communications network NW. Examples of the communications network NW encompass wireless networks such as an IEEE802.11 wireless network and a mobile phone network. Further examples of the communications network NW encompass wired communications networks such as an Ethernet (registered trademark) network.

[0129]The mobile terminal device 2A also serves as a data measuring probe. Specifically, the mobile terminal device 2A transmits, as needed, measured data ...

embodiment 3

[0137]The following description will discuss Embodiment 3 of the present invention with reference to FIG. 6. In Embodiment 3, for convenience, members identical in function to those described above are given the same reference numerals, and their descriptions will be omitted.

[0138]A positioning system SYS1B illustrated in FIG. 6 includes a mobile terminal device 2A, a storage server 3, and an angular velocity offset judging device 1A.

[0139]That is, according to the positioning system SYS of FIG. 6, the storage server 3 is further provided between the mobile terminal device 2A and the angular velocity offset judging device 1A which are included in the positioning system SYS1A illustrated in FIG. 5. The storage server 3 connects the mobile terminal device 2A and the angular velocity offset judging device 1A.

[0140]Note that according to the positioning system SYS1B of FIG. 6, (i) the mobile terminal device 2A transmits data to the storage server 3 and (ii) the angular velocity offset j...

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PUM

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Abstract

An angle offset judging device (1) includes: an azimuth histogram generating section (126) for obtaining an appearance frequency of estimated azimuths; and an evaluating section (127) for making an evaluation of whether or not the appearance frequency thus obtained shows a tendency which is observed in a case where an azimuth is properly estimated under a binding condition concerning an advancing direction of a movement of a moving body.

Description

TECHNICAL FIELD[0001]The present invention relates to an estimated azimuth evaluating technology for evaluating validity of a bias component of an angular velocity.BACKGROUND ART[0002]The technology called pedestrian dead reckoning (PDR) has been researched and developed. According to the pedestrian dead reckoning, (i) a moving body, which is a pedestrian, holds or is equipped with a sensor module that includes an (three-axis) acceleration vector sensor and an (three-axis) angular velocity vector sensor (i.e. the sensor module is what is known as a six-axis sensor) and then (ii) a location and an attitude of the pedestrian is estimated based on an acceleration vector and an angular velocity vector which have been obtained by use of the sensor module (see, for example, Non-Patent Literature 1).[0003]Unlike GPS (Global Positioning System) and other positioning technologies that employ wireless signals, PDR is an autonomous tracking technology in which a self-contained sensor is used. ...

Claims

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Application Information

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Patent Type & Authority Patents(United States)
IPC IPC(8): G01C25/00G01C21/12G01P21/00G01C21/16
CPCG01C21/12G01P21/00G01C21/16G01C25/005G01C22/006G01C21/188
Inventor KOUROGI, MASAKATSUKURATA, TAKESHIISHIKAWA, TOMOYAOKUMA, TAKASHI
Owner NAT INST OF ADVANCED IND SCI & TECH